CN109070991B

CN109070991B - Unmanned aerial vehicle's frame subassembly and unmanned aerial vehicle

Info

Publication number: CN109070991B
Application number: CN201780025233.9A
Authority: CN
Inventors: 张松
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-09-30
Filing date: 2017-09-30
Publication date: 2021-09-14
Anticipated expiration: 2037-09-30
Also published as: WO2019061401A1; CN109070991A

Abstract

A frame assembly for an unmanned aerial vehicle and an unmanned aerial vehicle are disclosed. The rack assembly comprises a center rack, a first machine arm (10) and a second machine arm (20), wherein a synchronizing device (30) enables the first machine arm (10) and the second machine arm (20) to synchronously rotate; the first end of the locking device (40) is rotatably connected with the first machine arm (10), and the locking device (40) is provided with a locking part (41); the first end of the matching device (50) is rotatably connected with the second machine arm (20), the second end of the matching device (50) is rotatably connected with the second end of the locking device (40), and the matching device (50) is provided with a matching part (51); when the first machine arm (10) rotates towards the second machine arm (20) in the direction of reducing the included angle, the locking part (41) is separated from the matching part (51), so that the first machine arm (10) and the second machine arm (20) are folded; when the first arm (10) rotates relative to the second arm (20) in the direction of increasing the included angle, the locking part (41) moves towards the matching part (51) to be matched with each other, so that the first arm (10) and the second arm (20) are unfolded.

Description

Unmanned aerial vehicle's frame subassembly and unmanned aerial vehicle

Technical Field

The embodiment of the invention relates to the field of unmanned aerial vehicles, in particular to a rack assembly of an unmanned aerial vehicle and the unmanned aerial vehicle.

Background

Unmanned vehicles are often used in the fields of aerial photography, remote aerial monitoring, reconnaissance, and the like. The unmanned aerial vehicle generally comprises a center frame, a horn, a power assembly, a foot rest and equipment which needs to be carried during operation. The equipment for operation is generally arranged above or below the centre frame, and the foot rest is used for supporting the whole aircraft and avoiding the contact with the ground when the aircraft or the operation equipment is hung down. Because the unmanned vehicles with fixed horn structures have large volumes and are inconvenient to carry, the folding of the horns is a more universal mode.

Since the arms of the unmanned aerial vehicle should be at least locked during flying, the unmanned aerial vehicle with the foldable arms in the prior art can only lock a single arm at a time, and cannot lock two arms at a time, which results in low operation efficiency.

Disclosure of Invention

The embodiment of the invention provides a rack assembly of an unmanned aerial vehicle and the unmanned aerial vehicle, and aims to solve the problem that in the prior art, two arms cannot be locked at one time, so that the operation efficiency is low.

An embodiment of the invention provides a rack assembly of an unmanned aerial vehicle, which comprises a center frame, a first machine arm, a second machine arm and a locking mechanism, wherein the first machine arm and the second machine arm are rotatably connected with the center frame; the locking mechanism comprises a synchronizing device, a locking device and a matching device;

the synchronizing device is arranged between the first machine arm and the second machine arm so as to enable the first machine arm and the second machine arm to rotate synchronously;

the first end of the locking device is rotatably connected with the first machine arm, and the locking device is provided with a locking part;

the first end of the matching device is rotatably connected with the second machine arm, the second end of the matching device is rotatably connected with the second end of the locking device, and the matching device is provided with a matching part which is used for matching with the locking part to relatively lock the locking device and the matching device;

when the first machine arm rotates relative to the second machine arm towards the direction of reducing the included angle, the locking part is separated from the matching part, so that the first machine arm and the second machine arm are in a folded state;

when the first machine arm rotates relative to the second machine arm towards the direction of increasing the included angle, the locking part moves towards the matching part until the locking part is matched with the matching part, so that the first machine arm and the second machine arm are in an unfolding state.

In the frame assembly of the unmanned aerial vehicle provided by the embodiment of the invention, the first horn and the second horn can synchronously rotate through the synchronizing device arranged between the first horn and the second horn, the first horn and the first end of the locking device can be rotatably connected, the first end of the matching device and the second horn can be rotatably connected, the second end of the locking device and the second end of the matching device can be rotatably connected, when the first horn and the second horn rotate to approach relatively, the locking part is separated from the matching part, the first horn and the second horn are in a folded state, when the first horn and the second horn rotate along a direction deviating from each other, the locking part moves towards the matching part until the locking part is matched with the matching part, the first horn and the second horn are in an unfolded state, at the moment, the locking part and the matching part are in a matched and locked state, so that the first horn and the second horn are also in a locked state, therefore, two machine arms are locked at a time, and the operation efficiency is improved.

An embodiment of the invention provides an unmanned aerial vehicle, which comprises a rack assembly and a power device arranged on the rack assembly, wherein the power device is used for providing flight power for the unmanned aerial vehicle;

wherein, the frame subassembly includes: the center frame comprises a first machine arm, a second machine arm and a locking mechanism, wherein the first machine arm and the second machine arm are rotatably connected with the center frame; the locking mechanism comprises a synchronizing device, a locking device and a matching device;

In the unmanned aerial vehicle provided by this embodiment, the first horn and the second horn can be synchronously rotated by the synchronizing device arranged between the first horn and the second horn, the first horn and the first end of the locking device are rotatably connected, the first end of the engaging device and the second horn are rotatably connected, the second end of the locking device and the second end of the engaging device are rotatably connected, when the first horn and the second horn are relatively rotated to be close to each other, the locking portion is separated from the engaging portion, the first horn and the second horn are in the folded state, when the first horn and the second horn are rotated in the direction away from each other, the locking portion moves towards the engaging portion until the locking portion is engaged with the engaging portion, the first horn and the second horn are in the unfolded state, at this time, the locking portion and the engaging portion are in the engaged and locked state, so that the first horn and the second horn are also in the locked state, thereby realizing the locking of the two horns at a time, the operating efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a rack assembly of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a partial explosion structure of a rack assembly of the unmanned aerial vehicle according to the embodiment of the present invention;

fig. 3 is a schematic diagram of a partial explosion structure of a rack assembly of the unmanned aerial vehicle according to the embodiment of the present invention;

fig. 4 is an exploded view of a drone airframe assembly provided by an embodiment of the present invention;

fig. 5 is a schematic structural diagram of the unmanned aerial vehicle provided in the embodiment of the present invention.

Reference numerals:

10-a first horn; 20-a second horn; 30-a synchronization device;

40-a locking device; 50-a mating device; 60-a resilient member;

31-a first gear; 32-a second gear; 41-a locking part;

40 a-a first link; 40 b-a second link; 40 c-connecting piece;

401 b-a first arm; 402 b-a second arm; m-a first bevel;

n-a second bevel; 401 a-first connection hole; 403 b-second connection hole;

a-a first rotating shaft; b-a second rotating shaft; c-a third rotating shaft;

52-opening; 53-a housing; 53 a-first partial shell;

53 b-second partial shell; 54-a slide block; 55-a drive member;

551-pressing part; 552-a push-against portion; 56-auxiliary elastic member;

57-a return spring; 100-centre frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Example one

Fig. 1 is a schematic structural diagram of a rack assembly of an unmanned aerial vehicle according to an embodiment of the present invention; fig. 2 is a schematic diagram of a partial explosion structure of a rack assembly of the unmanned aerial vehicle according to the embodiment of the present invention; fig. 3 is a schematic diagram of a partial explosion structure of a rack assembly of the unmanned aerial vehicle according to the embodiment of the present invention; fig. 4 is an exploded view of the unmanned aerial vehicle rack assembly according to the embodiment of the present invention.

Referring to fig. 1 to 4, the frame assembly of the unmanned aerial vehicle provided in this embodiment includes a central frame (not shown in fig. 1 to 4), a first arm 10 and a second arm 20 rotatably connected to the central frame, and a locking mechanism for synchronously locking the first arm 10 and the second arm 20; the locking mechanism comprises a synchronization device 30, a locking device 40 and an engagement device 50. The first arm 10 and the second arm 20 may be rotatably connected, e.g., hinged, to the center frame via respective pivot shafts.

The synchronization device 30 is disposed between the first arm 10 and the second arm 20, so that the first arm 10 and the second arm 20 can rotate synchronously. That is, when the first horn 10 is driven to rotate, the rotational power thereof can be transmitted to the second horn 20 through the synchronization device 30, so that the second horn 20 can be rotated in synchronization with the first horn 10. It will be appreciated that when the first horn 10 is locked, the second horn 20 will also be unable to rotate due to the limitations of the synchronization device 30, i.e., the first horn 10 and the second horn 20 can be locked in synchronization.

A first end of the locking device 40 is rotatably connected to the first arm 10, and the locking device 40 is provided with a locking portion 41. Specifically, a first end of the locking device 40 may be hinged to the first arm 10 through a first rotation axis a.

A first end of the engaging means 50 is rotatably connected with the second horn 20, a second end of the engaging means 50 is rotatably connected with a second end of the locking means 40, and the engaging means 50 is provided with an engaging portion 51 for engaging with the locking portion 41 to lock the locking means 40 and the engaging means 50 relatively. The first end of the engaging means 50 can also be hinged with the second arm 20 via a second pivot b, and similarly, the second end of the engaging means 50 can be rotatably connected with the second end of the locking means 40 via a third pivot c.

When the first arm 10 rotates relative to the second arm 20 in a direction of reducing the included angle, the locking portion 41 is separated from the engaging portion 51, so that the first arm 10 and the second arm 20 are in a folded state;

when the first arm 10 rotates relative to the second arm 20 in a direction of increasing the included angle, the locking portion 41 moves toward the engaging portion 51 until the locking portion 41 engages with the engaging portion 51, so that the first arm 10 and the second arm 20 are in an unfolded state.

Specifically, the first arm 10 and the second arm 20 can rotate relatively to each other to a minimum preset included angle, for example, the first arm 10 and the second arm 20 rotate to be parallel to each other, that is, the included angle is zero. When the first arm 10 and the second arm 20 rotate relatively to each other to a minimum preset included angle, the first arm 10 and the second arm 20 may be in a folded state. The folded state is a state in which the first boom 10 and the second boom 20 are folded with respect to each other, and it should not be understood that the first boom 10 and the second boom 20 are each folded.

The first arm 10 and the second arm 20 can rotate relatively to each other to a maximum preset included angle, for example, the included angle between the first arm 10 and the second arm 20 is 180 degrees. When the first arm 10 and the second arm 20 rotate relatively to a maximum preset included angle, the first arm 10 and the second arm 20 are in an unfolded state. The unfolded state is a state in which the first arm 10 and the second arm 20 are away from each other, and it is not understood that the first arm 10 and the second arm 20 are respectively unfolded.

Of course, it is understood that the angle between the first boom 10 and the second boom 20 may be larger than zero when the first boom 10 and the second boom 20 are in the folded state, and the angle between the first boom 10 and the second boom 20 may be smaller than 180 degrees when the first boom 10 and the second boom 20 are in the unfolded state. The number and the arrangement position of the horn may be determined according to a preset deployment form, and the embodiment is not limited herein.

The locking portion 41 of the locking device 40 may be fixed to other parts of the locking device 40 in a detachable or non-detachable manner, in which case, in particular, the locking portion 41 may be formed integrally with other parts of the locking device 40, or welded.

The fitting part 51 of the fitting device 50 may be fixed to other parts of the fitting device 50 in a detachable or non-detachable manner, in which case, in particular, the fitting part 51 may be formed integrally with other parts of the fitting device 50, or welded. The engaging portion 51 may also be movably disposed at other parts of the engaging device 50, for example, after the locking portion 41 is engaged with the engaging portion 51, when the engaging portion 51 is operated, the engaging portion 51 may be disengaged from the locking portion 41, so as to unlock the first arm 10 and the second arm 20.

In the present embodiment, the synchronizing device 50 may include a first gear 31 fixed to the first arm 10 and a second gear 32 fixed to the second arm 20, wherein the first gear 31 is engaged with the second gear 32 to enable the first arm 10 and the second arm 20 to synchronously rotate in opposite directions. The teeth of the first gear 31 and the second gear 32 may be arranged in the entire circumferential direction, or may be arranged in an arc segment along the circumferential direction, which may be determined according to the required spreading angle of the first boom 10 and the second boom 20.

Of course, other synchronizing devices may be selected by those skilled in the art to enable the first and

second booms

10 and 20 to rotate synchronously, for example, a link transmission may also be adopted, and the embodiment is not particularly limited herein.

In the frame assembly of the unmanned aerial vehicle provided by this embodiment, the first horn and the second horn can rotate synchronously by the synchronizing device disposed between the first horn and the second horn, the first horn and the first end of the locking device are rotatably connected, the first end of the engaging device and the second horn are rotatably connected, the second end of the locking device and the second end of the engaging device are rotatably connected, when the first horn and the second horn rotate relatively to approach each other, the locking portion is separated from the engaging portion, the first horn and the second horn are in the folded state, when the first horn and the second horn rotate in the direction away from each other, the locking portion moves toward the engaging portion until the locking portion is engaged with the engaging portion, the first horn and the second horn are in the unfolded state, at this time, the locking portion and the engaging portion are in the engaged and locked state, so the first horn and the second horn are also in the locked state, therefore, two machine arms are locked at a time, and the operation efficiency is improved.

Example two

The present embodiment describes a specific locking manner of the locking portion 41 on the locking device 40 and the mating portion 51 on the mating device 50 on the basis of the first embodiment.

In the present embodiment, as shown in fig. 2 to 4, the locking manner between the locking portion 41 and the mating portion 51 is preferably a snap-fit. The locking part 41 and the matching part 51 are locked in a clamping manner, and the stability is good after clamping.

Specifically, as shown in fig. 4, the fitting device 50 may include a housing 53, the fitting portion 51 may be provided inside the housing 53, the housing 53 may be provided with an opening 52 on a side facing the first and

second arms

10 and 20, and the locking portion 41 may be locked to the fitting portion 51 through the opening 52. In particular, snap-fit onto the mating portion 51.

The entire housing 53 may include a first sub-housing 53a and a second sub-housing 53b that are detachable, and in the mounted state, the second sub-housing 53b may be located at one side of the first arm 10 and the second arm 20, and correspondingly, the opening 52 may be located on the second sub-housing 53b, and the fitting portion 51 may be disposed between the first sub-housing 53a and the second sub-housing 53 b. The entire housing 53 is formed of two detachable sub-housings, which can facilitate installation, maintenance, or replacement of parts such as the fitting portion 51 in the housing 53. Of course, the housing 53 may be formed by not only two divided shells, but also more than two divided shells to form the housing 53, for example, four or six divided shells may be detachably connected to each other to form the housing 53, and the embodiment is not limited thereto.

Of course, it is understood that the first sub-shell 53a and the second sub-shell 53b may be connected together in an undetachable manner, such as by adhesion, welding, etc., if only the basic function is considered.

Preferably, as shown in fig. 4, the locking portion 41 in this embodiment may be a hook, and the matching portion 51 may be a card hole or a card slot. In the process that the first arm 10 rotates relative to the second arm 20 in the direction of increasing the included angle, the locking device 40 moves towards the engaging device 50 until the hook-shaped locking portion 41 is snapped into the snap hole or the snap groove-shaped engaging portion 51, so as to achieve the relative locking of the locking device 40 and the engaging device 50, and at this time, the first arm 10 and the second arm 20 are in the unfolded state.

Further, as shown in fig. 4, the engaging portion 51 may be provided on a slider 54 movable in a direction away from the locking portion 41, and the slider 54 can be slid to the engaging portion 51 away from the locking portion 41 by an external force applied by an operator. The slider 54 may be disposed in an inner cavity of the fitting device 50, and specifically, for example, may be disposed in an inner cavity surrounded by the first sub-shell 53a and the second sub-shell 53 b. A slide (not shown) for guiding the slider 54 to slide in a predetermined direction may be further provided inside the fitting device 50.

The engaging device 50 may further include an actuating member 55, wherein the actuating member 55 is configured to receive an external force applied by an operator and transmit the external force to the slider 54 to drive the slider 54 to slide in a direction away from the locking portion 41. The driving member 55 can be abutted against the slider 54 to push the slider 54 to slide, so that the position of the engaging portion 51 on the slider 54 can be moved, and when the position of the engaging portion 51 is moved, the engaging portion 51 can be separated from the locking portion 41. When the driving member 55 is not operated, the slider 54 can be maintained at the current position, and the engaging portion 51 and the locking portion 41 can be always kept in the engaged and locked state, and thus the first arm 10 and the second arm 20 can be always kept in the locked state.

The direction of the external force applied by the operator may be perpendicular to the sliding direction of the slider 54. Specifically, for example, as shown in fig. 4, the driving member 55 may include a pressing portion 551 for an operator to press, and an abutting portion 552 for abutting against the slider 54, the abutting portion 552 may be in inclined contact with the slider 54, and when the operator presses the driving member 55, the abutting portion 552 may push the slider 54 to slide in a direction away from the locking portion 41 by the inclined surface.

Alternatively, the direction of the external force applied by the operator may coincide with the sliding direction of the slider 54. For example, the operator presses the driving member 55, and the contact surface between the pushing portion 552 of the driving member 55 and the slider 54 is perpendicular to the force application direction, so that the slider 54 can be directly slid toward the applied external force direction.

In addition, an auxiliary elastic member 56 may be further disposed between the driving member 55 and the housing 53, in this embodiment, the auxiliary elastic member 56 may be an axial expansion spring, when an operator applies an external force to the driving member 55, the auxiliary elastic member 56 is gradually compressed, and when the driving member 55 is removed by the external force, the auxiliary elastic member 56 is deformed to return to the initial state of the driving member 55. Specifically, one end of the auxiliary elastic element 56 may be connected to the driving element 55, and the other end of the auxiliary elastic element 56 may be in abutting contact with the housing 53; or, one end of the auxiliary elastic element 56 is in abutting contact with the driving element 55, and the other end of the auxiliary elastic element 56 is connected with the shell 53; alternatively, one end of the auxiliary elastic member 56 is in abutting contact with the driving member 55, and the other end of the auxiliary elastic member 56 is connected to the housing 53. The housing 53 may be formed with a stopper (not shown) for preventing the driving member 55 from falling off the housing 53, and when both ends of the auxiliary elastic member 56 are connected to the driving member 55 and the housing 53, respectively, the stopper on the housing 53 may be omitted.

By providing the auxiliary elastic member 56 between the driving member 55 and the sliding block 54, when the operator does not apply a pressing force to the driving member 55, the auxiliary elastic member 56 can be in an initial state, at this time, the pushing portion 552 on the driving member 55 can be in static contact with the sliding block 54, or a certain gap can be kept with the sliding block 54, and when the operator applies a pressing force to the driving member 55, the auxiliary elastic member 56 can be gradually compressed, and the auxiliary elastic member 56 continuously pushes the sliding block 54 so that the engaging portion 51 on the sliding block 54 is disengaged from the locking portion 41 on the locking device 40. If the external force is removed, the auxiliary elastic member 56 can drive the driving member 55 to return to the initial state. Therefore, the auxiliary elastic element 56 can help an operator to apply force to the sliding block 54 more uniformly and smoothly, and the auxiliary elastic element 56 can help the driving element 55 to automatically return to the initial state, so that the operator can unlock and lock repeatedly, and the operation efficiency is improved.

A return elastic member 57 for abutting against the slider 54 may be further provided in the engaging device 50, and the extending and contracting direction of the return elastic member 57 is consistent with the sliding direction of the slider 54. In this embodiment, the elastic restoring member 57 may be an axial extension spring, or may be a rubber member as long as it can improve an effective resilient force. Of course, it is preferable that the elastic restoring member 57 is an axial extension spring, and the elastic restoring effect of the axial extension spring is more agile, less prone to wear and longer in service life than that of rubber.

The return elastic piece 57 abuts against the slider 54 to make the fitting portion 51 in a preset locking position for locking with the locking portion 41 in a natural state; when the sliding block 54 slides under the driving of external force of an operator, the reset elastic piece 57 deforms; when the external force applied to the slider 54 disappears, the elastic return element 57 recovers to deform to drive the slider 54 to return to the predetermined locking position. Wherein the preset locking position is a position in the locking device 50 where the locking portion 41 is located for the locking portion 41 to cooperate with the cooperating portion 51, for example, a position for the hook to be snapped into a snap hole or a snap groove. In the process that the sliding block 54 slides under the driving of external force, if the sliding block 54 slides towards the direction of the elastic return part 57, the elastic return part 57 generates compression deformation in the sliding process of the sliding block 54; if the slider 54 slides away from the direction in which the return elastic member 57 is located, the return elastic member 57 is deformed by elongation during the sliding of the slider 54. When the external force applied to the slider 54 disappears, the elastic restoring member 57 can restore the deformation, so that the slider 54 returns to the preset locking position without manually moving the slider 54 to the preset locking position, and therefore, the elastic restoring member 57 can facilitate the next locking operation, and similarly, the effect of improving the efficiency is also achieved.

It should be noted that, if the slide block 54 slides away from the direction of the elastic return element 57, and the elastic return element 57 needs to be elongated and deformed during the sliding process of the slide block 54, two ends of the elastic return element 57 should be connected to the housing 53 and the slide block 54, respectively. If the sliding block 54 slides towards the direction of the elastic restoring member 57, the elastic restoring member 57 generates compression deformation in the sliding process of the sliding block 54, and one end of the elastic restoring member 57 may be connected to the housing 53, and the other end is used for abutting against the sliding block 54. Alternatively, the elastic return element 57 may have one end connected to the slider and the other end for abutting against the housing 53.

In this way, the operator can unlock the locking device 40 and the engaging device 50, that is, lock the first arm 10 and the second arm 20, by simply pressing the pressing portion 551.

In addition, as shown in fig. 4, as a more preferable mode, the driving member 55 and the auxiliary elastic member 56 may include two members and may be symmetrically disposed on both sides of the housing 53, so that when the operator presses the driving member 55, the operator may apply a force toward the middle to facilitate the operation, and if the volume of the locking device 40 and the engaging device 50 is made small enough, even the driving member 55 can be operated by one hand to achieve the unlocking by one hand, thereby further improving the operation efficiency.

As for the locking manner of the locking portion 41 and the matching portion 51, as an alternative, a magnetic attraction manner may also be adopted for locking between the locking portion 41 and the matching portion 51. Specifically, for example, each of the locking portion 41 and the mating portion 51 includes a magnet, and the magnet of the locking portion 41 and the magnet of the mating portion 1 have opposite polarities. Alternatively, one of the locking portion 41 and the fitting portion 51 includes a magnet, and the other of the locking portion 41 and the fitting portion 51 includes a metal that can be attracted by the magnet. Wherein the metal capable of being attracted by the magnet may include: iron, nickel, cobalt, and also certain alloys thereof.

By adopting the magnetic attraction manner, when the locking device 40 rotates to a distance that the locking part 41 can feel the magnetism of the matching part 51, the locking part 41 can be quickly attracted by the matching part 51, so as to realize the locking of the locking device 40 and the matching device 51, that is, the first arm 10 and the second arm 20 are locked. When the locking needs to be released, the locking device 40 and the engaging device 50 need only be pulled in the directions away from each other, so that the locking portion 41 and the engaging portion 51 move to the positions where they are not magnetically attracted to each other.

EXAMPLE III

The present embodiment is further limited to any of the above embodiments, and specifically, as shown in fig. 3, the locking device 40 may include a first connecting rod 40a and a second connecting rod 40b, the first connecting rod 40a is rotatably connected to the first arm 10, the second connecting rod 40b is rotatably connected to the engaging device 50, and the first connecting rod 40a and the second connecting rod 40b are inserted into each other and fixed together by a connecting member 40 c. The first link 40a may be inserted outside the second link 40b, or the second link 40b may be inserted outside the first link 40 a. The connecting member 40c may be a bolt that detachably connects the first link 40a with the second link 40 b.

In the present embodiment, the locking part 41 may be formed at one end of the first link 40a rotatably connected to the first arm 10.

In this embodiment, the second link 40b may include two oppositely disposed arms (a first arm 401b and a second arm 402b), a receiving space for inserting the first link 40a may be formed between the two oppositely disposed arms (a first arm 401b and a second arm 402b), and the two arms, the first arm 401b and the second arm 402b, may be made of an elastic material. Because the two arms of the second connecting rod 40b are made of elastic material, and the elastic material can generate elastic deformation in a certain range, the locking part 41 can be ensured to move to the position matched with the matching part 51 in a certain error range, so that the situation that the locking part 41 cannot be locked in place with the matching part 51 due to machining errors can be avoided, and the reliability of the whole device can be improved.

In addition, by adjusting the tightening degree of the connecting member 40c, the magnitude of the elasticity of the second link 40b can be adjusted, and it is possible to realize a structure that allows the locking portion 41 to be moved to the position where it is engaged with the engaging portion 51 within a larger error range.

Furthermore, the end of the second link 40b away from the engaging device 50 may be in inclined contact with the first link 40a (e.g. the first inclined plane M and the second inclined plane N shown in fig. 3). Through the inclined surface contact between the first connecting rod 40a and the second connecting rod 40b, the extrusion deformation between the first connecting rod 40a and the second connecting rod 40b can be more facilitated, so that the total length formed by the first connecting rod 40a and the second connecting rod 40b is changed, the locking position of the locking part 41 is adjusted, and the phenomenon that the locking part 41 cannot be accurately matched with the matching part 51 possibly caused by machining errors is effectively avoided.

The first link 40a may be provided with a first connection hole 401a, the two arms of the second link 40b are respectively provided with a second connection hole 403b, and the connection member 40c passes through the second connection holes 403b of the two arms (the first arm 401b and the second arm 402b) and the first connection hole 401a of the first link 40a to connect the first link 40a and the second link 40b together.

Preferably, the first connection hole 401a of the first link 40a is an elongated hole. In this way, the fixing position of the connecting member 40c on the first link 40a can be adjusted, so as to adjust the overall length of the locking device 40 formed by the first link 40a and the second link 40b in a wide range, thereby improving the flexibility of the device to a greater extent.

Example four

The present embodiment is further limited based on any of the above embodiments, and as shown in fig. 2, one end of the locking device 40 for rotatable connection with the engaging device 50 may be provided with a resilient member 60, and the resilient member 60 is used for driving the locking device 40 to eject in a direction away from the engaging device 50 after the locking portion 41 is unlocked from the engaging portion 51. In this way, the first arm 10 and the second arm 20 can be driven to return to the folded state by the fast rebounding locking device 40, so that the automation degree is further improved, and the operation of an operator is facilitated.

In this embodiment, the resilient member 60 may be an axial spring, or the resilient member 60 may be a torsion spring.

In this embodiment, it is preferable that the resilient member 60 is a torsion spring, and when the resilient member 60 is a torsion spring, one end of the resilient member 60 is connected to the engaging device, the other end of the resilient member 60 is connected to the locking device 40, and the axial direction of the resilient member 60 coincides with the direction of the central axis of rotation of the locking device 40. The above arrangement enables the locking device 40 to obtain a large elastic restoring force, so that the locking device 40 can be rapidly rebounded.

When the resilient member 60 is an axial spring, one end of the resilient member 60 may be connected to the engaging device 50, and the other end of the resilient member 60 is connected to the locking device 40, and the axial direction of the resilient member 60 at least forms an included angle with the central axis of rotation of the locking device 40. In this way, the resilient member 60 is allowed to rotate the locking device 40.

EXAMPLE five

The embodiment provides an unmanned aerial vehicle, and fig. 5 is a schematic structural diagram of the unmanned aerial vehicle provided by the embodiment of the invention. As shown in fig. 1-5, the unmanned aerial vehicle of this embodiment includes the frame subassembly and locates the power device (not shown in the figure) on the frame subassembly, and power device is used for providing flight power for unmanned aerial vehicle.

Wherein, the frame subassembly includes: a center frame 100, a first machine arm 10 and a second machine arm 20 which are rotatably connected with the center frame 100, and a locking mechanism for synchronously locking the first machine arm 10 and the second machine arm 20; the locking mechanism comprises a synchronization device 30, a locking device 40 and an engagement device 50. The first arm 10 and the second arm 20 may be rotatably connected, e.g., hinged, to the center frame via respective pivot shafts.

A first end of the engaging means 50 is rotatably connected with the second horn 20, a second end of the engaging means 50 is rotatably connected with a second end of the locking means 40, and the engaging means 50 is provided with an engaging portion 51 for engaging with the locking portion 41 to lock the locking means 40 and the engaging means 50 relatively. The first end of the engaging means 50 can also be hinged with the second arm 20 through a second rotating shaft b, and similarly, the second end of the engaging means 50 can be rotatably connected with the second end of the locking means 40 through a third rotating shaft b.

second booms

EXAMPLE six

The present embodiment describes a specific locking manner of the locking portion 41 on the locking device 40 and the mating portion 51 on the mating device 50 on the basis of the fifth embodiment.

second arms

EXAMPLE seven

Example eight

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the context of the present invention, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The frame assembly of the unmanned aerial vehicle is characterized by comprising a center frame, a first machine arm, a second machine arm and a locking mechanism, wherein the first machine arm and the second machine arm are rotatably connected with the center frame; the locking mechanism comprises a synchronizing device, a locking device and a matching device;

when the first machine arm rotates relative to the second machine arm towards the direction of reducing the included angle, the locking part is separated from the matching part, so that the first machine arm and the second machine arm are in a folded state; when the first machine arm rotates relative to the second machine arm towards the direction of increasing the included angle, the locking part moves towards the matching part until the locking part is matched with the matching part, so that the first machine arm and the second machine arm are in an unfolding state.

2. The airframe assembly of claim 1,

when the first machine arm and the second machine arm rotate relatively to the minimum preset included angle, the first machine arm and the second machine arm are in the folded state;

when the first machine arm and the second machine arm rotate relatively to the maximum preset included angle, the first machine arm and the second machine arm are in the unfolding state.

3. The airframe assembly as defined in claim 1, wherein the synchronizing mechanism includes a first gear fixed to the first arm and a second gear fixed to the second arm, the first gear meshing with the second gear to enable synchronous counter-rotation of the first and second arms.

4. The airframe assembly as defined in claim 1, wherein the locking portion is snap-fit with the mating portion.

5. The airframe assembly as defined in claim 4, wherein the fitting means includes a housing, the fitting portion is provided inside the housing, an opening is provided on a side of the housing facing the first and second arms, and the locking portion is locked to the fitting portion through the opening.

6. The airframe assembly as defined in claim 4, wherein the locking portion is a hook, and the mating portion is a hole or a groove.

7. The airframe assembly as defined in claim 5, wherein the engaging portion is provided on a slider movable in a direction away from the locking portion, the slider being capable of sliding to the engaging portion away from the locking portion under an external force applied by an operator.

8. The airframe assembly as recited in claim 7, wherein a direction of the external force applied by the operator is perpendicular to a sliding direction of the slider; or the direction of the external force applied by the operator is consistent with the sliding direction of the sliding block.

9. The airframe assembly as recited in claim 7, wherein the engagement device further comprises a driving member for receiving an external force applied by an operator and transmitting the external force to the slider to drive the slider to slide in a direction out of the locking portion.

10. The unmanned aerial vehicle's rack assembly of claim 9, wherein the driving member includes a pressing portion for an operator to press, and an abutting portion for abutting against the slider, the abutting portion is in inclined contact with the slider, and when the operator presses the driving member, the abutting portion pushes the slider to slide in a direction away from the locking portion through the inclined surface.

11. The airframe component as claimed in claim 9, wherein an auxiliary elastic member is disposed between the driving member and the housing, and gradually compresses when an operator applies an external force to the driving member, and returns to its original shape when the driving member is withdrawn from the housing.

12. The unmanned aerial vehicle frame assembly of claim 7, wherein a return elastic member for abutting against the sliding block is further provided in the fitting device, and a telescopic direction of the return elastic member is consistent with a sliding direction of the sliding block;

the return elastic piece is abutted against the sliding block under a natural state to enable the matching part to be in a preset locking position for locking with the locking part; when the sliding block slides under the driving of external force of an operator, the reset elastic piece deforms; when the external force borne by the sliding block disappears, the reset elastic piece recovers to deform to drive the sliding block to return to the preset locking position.

13. The airframe assembly as defined in claim 1, wherein the locking means between the locking portion and the mating portion is magnetic attraction.

14. The airframe assembly as defined in claim 13, wherein the locking portion and the mating portion each include a magnet, the magnet of the locking portion and the magnet of the mating portion being of opposite polarity; alternatively, one of the locking portion and the fitting portion includes a magnet, and the other of the locking portion and the fitting portion includes a metal that can be attracted by the magnet.

15. The airframe assembly as defined in claim 1, wherein the locking device comprises a first connecting rod and a second connecting rod, the first connecting rod is rotatably connected to the first arm, the second connecting rod is rotatably connected to the engagement device, and the first connecting rod and the second connecting rod are inserted into each other and fixed together by a connecting member.

16. The airframe assembly as defined in claim 15, wherein the second link includes two oppositely disposed arms, a receiving space for the first link to be inserted is formed between the two oppositely disposed arms, and the two arms are made of an elastic material.

17. The airframe assembly as defined in claim 16, wherein an end of the second link remote from the engagement device is in beveled contact with the first link.

18. The airframe assembly as defined in claim 16, wherein the first link has a first connecting hole, the second link has a second connecting hole on each of the two arms, and the connecting member passes through the second connecting holes on the two arms and the first connecting hole on the first link to connect the first link and the second link together.

19. The airframe assembly as defined in claim 18, wherein the first connection aperture on the first link is an elongated hole.

20. The airframe assembly as defined in claim 15, wherein the locking portion is formed on an end of the first link rotatably coupled to the first arm.

21. The airframe assembly as defined in claim 1, wherein an end of the locking device, which is rotatably connected to the engaging device, is provided with a resilient member, and the resilient member is configured to drive the locking device to spring out in a direction away from the engaging device when the locking portion is unlocked from the engaging portion.

22. The airframe assembly as recited in claim 21, wherein the resilient member is an axial spring, or a torsion spring.

23. The airframe component as claimed in claim 22, wherein when the resilient member is an axial spring, one end of the resilient member is connected to the engaging means, and the other end of the resilient member is connected to the locking means, and the axial direction of the resilient member at least forms an included angle with the central axis of rotation of the locking means.

24. The airframe component as claimed in claim 22, wherein when the resilient member is a torsion spring, one end of the resilient member is connected to the engaging means, the other end of the resilient member is connected to the locking means, and the axial direction of the resilient member is the same as the direction of the central axis of rotation of the locking means.

25. An unmanned aerial vehicle is characterized by comprising a rack assembly and a power device arranged on the rack assembly, wherein the power device is used for providing flight power for the unmanned aerial vehicle;

26. A drone according to claim 25,

27. A drone according to claim 25, wherein the synchronisation means includes a first gear fixed to the first arm and a second gear fixed to the second arm, the first gear meshing with the second gear to enable synchronous counter-rotation of the first and second arms.

28. A drone according to claim 25, characterised in that the locking means between the locking portion and the cooperating portion is a snap-fit.

29. A drone according to claim 28, wherein the engagement portion is provided inside the engagement device, the engagement device having an opening provided on a side thereof facing the first and second arms, the locking portion being locked to the engagement portion through the opening.

30. The drone of claim 28, wherein the locking portion is a snap and the mating portion is a snap hole or a slot.

31. A drone according to claim 28, characterised in that the engagement portion is provided on a slider movable in the direction of disengagement from the locking portion, the slider being able to slide, driven by an external force applied by the operator, until the engagement portion disengages from the locking portion.

32. A drone according to claim 31, wherein the direction of the external force applied by the operator is perpendicular to the sliding direction of the slider; or the direction of the external force applied by the operator is consistent with the sliding direction of the sliding block.

33. A drone according to claim 31, wherein the engagement means further includes a drive member for receiving an external force applied by an operator and transmitting the external force to the slider to drive the slider to slide in a direction out of the locking portion.

34. An unmanned aerial vehicle according to claim 33, wherein the driving member includes a pressing portion for being pressed by an operator, and an abutting portion for abutting against the slider, the abutting portion is in inclined surface contact with the slider, and when the operator presses the driving member, the abutting portion pushes the slider to slide in a direction away from the locking portion through the inclined surface.

35. An unmanned aerial vehicle according to claim 33, wherein an auxiliary elastic member is disposed between the driving member and the sliding block, the auxiliary elastic member is gradually compressed during an external force applied to the driving member by an operator, and the auxiliary elastic member is restored to deform to drive the driving member to return to an initial state during an evacuation process of the driving member from the external force.

36. An unmanned aerial vehicle according to claim 31, wherein a return elastic member for abutting against the slider is further provided in the fitting device, and a telescopic direction of the return elastic member is consistent with a sliding direction of the slider;

37. An unmanned aerial vehicle as defined in claim 25, wherein the locking means between the locking portion and the mating portion is magnetic attraction.

38. The drone of claim 37, wherein the locking portion and the mating portion each include a magnet, the magnet of the locking portion being opposite in polarity to the magnet of the mating portion; alternatively, one of the locking portion and the fitting portion includes a magnet, and the other of the locking portion and the fitting portion includes a metal that can be attracted by the magnet.

39. A drone according to claim 25, wherein the locking device comprises a first link and a second link, the first link being rotatably connected to the first arm, the second link being rotatably connected to the engagement device, the first link and the second link being intercalated and fixed together by a connector.

40. A drone according to claim 39, wherein the second link comprises two oppositely disposed arms forming a receiving space therebetween for the insertion of the first link, the arms being made of an elastic material.

41. A drone according to claim 40, wherein the end of the second link remote from the engagement means is in ramped contact with the first link.

42. An unmanned aerial vehicle according to claim 40, wherein the first link is provided with a first connecting hole, the second link is provided with a second connecting hole on each of the two arms, and the connecting member passes through the second connecting holes on the two arms and the first connecting hole on the first link to connect the first link and the second link together.

43. A drone as claimed in claim 42, wherein the first connection aperture on the first link is an elongate aperture.

44. A drone according to claim 39, wherein the locking portion is formed on one end of the first link rotatably connected to the first arm.

45. An unmanned aerial vehicle according to claim 25, wherein the end of the locking means for rotatable connection with the engaging means is provided with a resilient member for urging the locking means to spring out in a direction away from the engaging means when the locking portion is unlocked from the engaging means.

46. A drone according to claim 45, wherein the resilient member is an axial spring, or a torsion spring.

47. An unmanned aerial vehicle according to claim 46, wherein when the resilient member is an axial spring, one end of the resilient member is connected to the engaging means, and the other end of the resilient member is connected to the locking means, and the axial direction of the resilient member is at least at an angle to the central axis of rotation of the locking means.

48. An unmanned aerial vehicle according to claim 46, wherein when the resilient member is a torsion spring, one end of the resilient member is connected with the engaging means, the other end of the resilient member is connected with the locking means, and the axial direction of the resilient member coincides with the direction of the central axis of rotation of the locking means.